CN108685532A - A kind of sweeping robot system and sweeping robot - Google Patents
A kind of sweeping robot system and sweeping robot Download PDFInfo
- Publication number
- CN108685532A CN108685532A CN201710236045.2A CN201710236045A CN108685532A CN 108685532 A CN108685532 A CN 108685532A CN 201710236045 A CN201710236045 A CN 201710236045A CN 108685532 A CN108685532 A CN 108685532A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- controller
- navigation system
- robot system
- battery pack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to Intelligent life technical field of electric appliances, a kind of sweeping robot system and sweeping robot are disclosed.Sweeping robot system includes:Controller(10);Drive system(20), it is connect with the controller for driving the robot ambulation, cleaning and trapped dirt;Navigation system(40), it is connect with the controller for there are when barrier, pass information to the controller so that the controller controls the sweeping robot avoiding obstacles walking on the track route for detecting the sweeping robot;And battery pack(30), for being the controller(10), drive system(20)And navigation system(40)Power supply.The sweeping robot system of the present invention can control walking mechanism avoiding obstacles more flexiblely, improve sweeping efficiency.
Description
Technical field
The present invention relates to Intelligent life technical field of electric appliances, more particularly to a kind of sweeping robot system and machine of sweeping the floor
People.
Background technology
Sweeping robot is also known as automatic to sweep machine, is one kind of controlling intelligent household appliances.Sweeping robot can be in controller
The lower automatic completion floor cleaning work in the room of control.Specifically, sweeping robot is generally swept and vacuum mode using brush, will
Ground sundries cleans and receives the rubbish storage box into itself, to complete the function of land clearing.
The lid that the structure of existing sweeping robot generally comprises shell and is installed on shell, shell and lid it
Between form installation cavity.It is equipped with the clearing apparatus controlled by controller in installation cavity and driving device, clearing apparatus are set to shell
Rear side, and driving device is set to the both sides of the bottom surface of shell.Driving device independently drives there are two wheels to be run with mobile robot.
In the front side of shell, there are one deflecting rollers, the side of deflecting roller, and a rotor for carrying brush, rotor rotation can also be arranged for setting
When Electric brush sweep the floor.As it can be seen that current sweeping robot mainly has cleaning function.However, when there is obstinate oil stain in ground
Or the dirt that should not be cleaned, when needing to wash with water, existing sweeping robot can not use.In addition, existing sweeper
Device people can not flexibly turn round with timely avoiding obstacles, also lack in improper use in the case where encountering barrier
When in time alarm and self-protection function.
Therefore, it is necessary to a kind of novel sweeping robots preferably to meet the requirement of user.
Invention content
In order to solve above-mentioned part or all of technical problem, according to an aspect of the invention, there is provided one kind is swept the floor
Robot system, the sweeping robot system include:Controller is connect with the controller for driving the robot row
It walks, clean and the drive system of trapped dirt, connect in the row for detecting the sweeping robot with the controller
Walk on route that there are when barrier, pass information to the controller so that the controller controls the sweeping robot and keeps away
Open the navigation system of barrier walking, and the battery pack for powering for the controller, drive system and navigation system.
Preferably, the navigation system includes infrared detection module, fingerprint identification module and/or sonic detection module.
Preferably, the sweeping robot system includes the cleaning agency and collecting mechanism being connect with the drive system;
The cleaning agency is connect with clear water tanks, and the collecting mechanism is connect with waste water tank.
Preferably, the navigation system includes when being reduced to safety level for the water level in the clear water tanks or institute
It states when water in waste water tank is more than alert locations or when the electricity of the battery pack is less than electricity is limited, the alarm alarmed
Unit.
Preferably, it is equipped with the first liquid level detector in the clear water tanks, the second liquid level detector is equipped in the waste water tank,
The battery pack is equipped with electric quantity detection apparatus, the alarm unit and first liquid level detector, the second level sensing
Device and electric quantity detection apparatus connection.
Preferably, after the cleaning agency is included in the work order for receiving the controller, along perpendicular to ground
The cleaning head of axis direction rotation and the water outlet sprayed water towards ground.
Preferably, the collecting mechanism includes pulsating pump and the suction being connect with the pulsating pump is lain prone device, the pulsating pump
After the work order for receiving the controller, by the suction lie prone device generate negative pressure the sewage on ground is adsorbed to it is described
In waste water tank.
According to another aspect of the present invention, additionally provide a kind of sweeping robot, the sweeping robot include rack and
Above-mentioned sweeping robot system, the controller, drive system and battery pack are set in the rack, the navigation system
It is set to the front end of the rack.
Preferably, the navigation system includes infrared detection sensor and/or sonic detection sensor.
Preferably, it plays a protective role to the sweeping robot when being equipped with for emergency braking in the rack floating
Dynamic Crashworthy plate.
The present invention sweeping robot, by be arranged navigation system can more flexible ground avoiding obstacles, improve clearly
Sweep efficiency.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the sweeping robot system of one embodiment of the present invention;
Fig. 2 is the schematic diagram of the sweeping robot system of another embodiment of the present invention;
Fig. 3 is the schematic diagram of the navigation system of the sweeping robot of one embodiment of the present invention;
Fig. 4 is the schematic diagram of the navigation system of the sweeping robot of another embodiment of the present invention;
Fig. 5 is the structural schematic diagram of the sweeping robot of one embodiment of the present invention.
Reference sign
10 controller, 20 drive system
21 walking mechanism, 22 cleaning agency
23 collecting mechanism, 30 battery pack
40 navigation system, 41 infrared detection module, fingerprint identification module
42 sonic detection module, 43 alarm unit
431 first liquid level detector, 432 second liquid level detector
433 electric quantity detection apparatus, 50 clear water tanks
60 waste water tank, 70 pulsating pump
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
The present invention provides a kind of sweeping robot systems, as shown in Figure 1, the sweeping robot system includes:Controller
10, it is connect with controller 10 for driving the drive system 20 of robot ambulation, cleaning and trapped dirt, being connect with controller
For there are when barrier, pass information to controller so that controller control on the track route for detect sweeping robot
The navigation system 40 and be used for device 10, drive system 20 and navigation system in order to control that sweeping robot avoiding obstacles processed are walked
The battery pack 30 of 40 power supplies.In this case, when navigation system 40 detects that the front of sweeping robot or surrounding have barrier
Controller 10 can be fed back to by hindering when object, controller 10 programme path and controls walking mechanism avoiding obstacles again.This hair as a result,
Bright sweeping robot does not have to stop when encountering barrier, can automatically and flexibly cut-through object work on, improve
Working efficiency.
In order to be accurately detected the barrier in sweeping robot front or surrounding, navigation system 40 includes infrared detection mould
Block 41 and/or sonic detection module 42.Specifically, infrared detection module, fingerprint identification module 41 by by different types of object emission go out can not
The infrared radiating light seen detects, and is converted into measurable signal and passes to controller 10.Controller 10 receives letter
It is analyzed after number to determine the height and volume of barrier, and controls walking mechanism and carry out corresponding route adjustment.Infrared inspection
There are following several advantages in the use for surveying module 41:It can also work under night and bad weather, good concealment is not easy to be done
Disturb, small in volume it is low in energy consumption.In addition, sonic detection module 42 is mainly to apply the principle of sound wave and shock wave, use
Microelectronics processor and sound/vibration sensor carry out vibration information collection, detect using air as the various sound waves of carrier, and will
Non-targeted noise wave and the filtering of other background interference waves, and then the rapid position for determining testee.It can be seen that of the invention
Sweeping robot system, can be accurately detected in front of robot and the barrier of surrounding, be conducive to robot ambulation road
Line is made rational planning in real time, the sweeping efficiency of raising.
In order to ensure that the sweeping robot of the present invention can carry out auxiliary cleaning by using water to ground, realizes and mop floor
Function, sweeping robot system include the cleaning agency 22 being connect with drive system 20 and collecting mechanism 23.Cleaning agency 22 with
Clear water tanks 50 connect, and collecting mechanism 23 is connect with waste water tank 60.In the specific embodiment of the present invention, cleaning agency
After 22 are included in the work order for receiving controller 10, the cleaning head that is rotated along the axis direction perpendicular to ground and towards ground
The water outlet of water spray.Further, the cavity that the main part of cleaning agency 22 is generally rectangular connects in the bottom surface of main part
Multiple cleaning heads are connected to, the motor for controlling cleaning head lifting and rotation is provided at the top of main part.Cleaning agency 22
Rectangle cavity connect with clear water tanks 50, be formed with water outlet between the multiple cleaning heads in the bottom surface of rectangle cavity.In this way,
It may be implemented to clean in water spray when cleaning agency 22 works.
In addition, collecting mechanism 23 includes pulsating pump and the suction that connect with pulsating pump is lain prone device, pulsating pump is controlled receiving
After the work order of device 10, the sewage on ground is adsorbed in waste water tank 60 by inhaling device generation negative pressure of lying prone.Inhale device of lying prone
It is longitudinally wide longitudinally wide more than wiper mechanism 22.In this way, the sewage that wiper mechanism 22 generates can be lain prone by suction, device is abundant
Collect clean in ground.
In order to ensure that sweeping robot can alarm in time in improper use, navigation system 40 includes in water purification
When water when water level in case 50 is reduced to safety level or in waste water tank 60 is more than alert locations or the electricity of battery pack 30
When less than limiting electricity, the alarm unit 43 alarmed.Preferably, the first liquid level detector 431, waste water are equipped in clear water tanks
The second liquid level detector 432 is equipped in case, battery pack is equipped with electric quantity detection apparatus 433.Alarm unit 43 and the first liquid level
Detector 431, the second liquid level detector 432 and electric quantity detection apparatus 433 connect.If added in this way, sweeping robot encounters
Enter water in clear water tanks 50 it is inadequate when or waste water tank 60 in water when being more than alert locations, or encounter battery capacity less than limit
When determining electricity, it can all alarm and be stopped.
The present invention also provides a kind of sweeping robot, which uses above-mentioned sweeping robot system.
Sweeping robot includes rack, and controller 10, drive system 20 and battery pack 30 are set in rack, and navigation system 40 is set to
The front end of rack.It includes horizontally disposed multilayer carrier and the support that is connected between adjacent two layers carrier that rack, which is arranged to,
Frame.Specifically, as shown in figure 5, carrier is arranged to three layers.In this case, clear water tanks 50 and waste water tank 60 are mounted on top
On layer carrier, battery pack 30 is mounted on middle layer, and cleaning agency 22, walking mechanism 21 and collecting mechanism 23 are arranged the bottom of at
Layer.Navigation system 40 includes infrared detection sensor and/or sonic detection sensor.Specifically, can pacify in the front end of rack
There are three sonic detection sensors for dress.In addition, playing protection to sweeping robot when being additionally provided in rack for emergency braking
The floating Crashworthy plate of effect.
Sweeping robot includes for distinguishing that machine is in the instruction light bar of normal operating conditions.Specifically, in sweeper
When device is manually made, two sides respectively have two instruction light bars to flash, especially night, people can be allowed easily to identify machine
It is working, to avoid artificial interference.In addition, have emergency stop device what the outside of sweeping robot can also install, in case of
It to emergency, can promptly press, machine will be stopped immediately.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited thereto.At this
In the range of the technology design of invention, a variety of simple variants can be carried out to technical scheme of the present invention.Including each particular technique
Feature is combined in any suitable manner.In order to avoid unnecessary repetition, the present invention is to various combinations of possible ways
No longer separately illustrate.But it should also be regarded as the disclosure of the present invention for these simple variants and combination, belongs to the present invention
Protection domain.
Claims (10)
1. a kind of sweeping robot system, which is characterized in that the sweeping robot system includes:
Controller(10);
Drive system(20), it is connect with the controller for driving the robot ambulation, cleaning and trapped dirt;
Navigation system(40), it is connect with the controller for there is barrier on the track route for detecting the sweeping robot
When hindering object, the controller is passed information to so that the controller controls the sweeping robot avoiding obstacles walking;
And
Battery pack(30), for being the controller(10), drive system(20)And navigation system(40)Power supply.
2. sweeping robot system according to claim 1, which is characterized in that the navigation system(40)Including infrared inspection
Survey module(41)And/or sonic detection module(42).
3. sweeping robot system according to claim 1, which is characterized in that the sweeping robot system includes and institute
State drive system(20)The cleaning agency of connection(22)And collecting mechanism(23);The cleaning agency(22)With clear water tanks(50)Even
It connects, the collecting mechanism(23)With waste water tank(60)Connection.
4. sweeping robot system according to claim 3, which is characterized in that the navigation system(40)Including being used for
The clear water tanks(50)In water level when being reduced to safety level or the waste water tank(60)In water be more than alert locations when,
Or the battery pack(30)Electricity less than electricity is limited when, the alarm unit alarmed(43).
5. sweeping robot system according to claim 4, which is characterized in that be equipped with the first liquid level in the clear water tanks and examine
Survey device(431), the waste water tank is interior to be equipped with the second liquid level detector(432), the battery pack is equipped with electric quantity detection apparatus
(433), the alarm unit(43)With first liquid level detector(431), the second liquid level detector(432)And electricity inspection
Survey device(433)Connection.
6. sweeping robot system according to claim 1, which is characterized in that the cleaning agency(22)It is included in reception
To after the work order of the controller, the cleaning head rotated along the axis direction perpendicular to ground and the water outlet sprayed water towards ground
Mouthful.
7. sweeping robot system according to claim 1, which is characterized in that the collecting mechanism(23)Including pulsating pump
It lies prone device with the suction being connect with the pulsating pump, the pulsating pump passes through institute after the work order for receiving the controller
State suction lie prone device generate negative pressure the sewage on ground is adsorbed in the waste water tank.
8. a kind of sweeping robot, which is characterized in that the sweeping robot includes any one in rack and such as claim 1-7
Sweeping robot system described in item claim, the controller(10), drive system(20)And battery pack(30)It is set to
In the rack, the navigation system(40)It is set to the front end of the rack.
9. sweeping robot according to claim 8, which is characterized in that the navigation system(40)It is passed including infrared detection
Sensor and/or sonic detection sensor.
10. sweeping robot according to claim 9, which is characterized in that be equipped in the rack and be used for emergency braking
When the floating Crashworthy plate that plays a protective role to the sweeping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236045.2A CN108685532A (en) | 2017-04-12 | 2017-04-12 | A kind of sweeping robot system and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236045.2A CN108685532A (en) | 2017-04-12 | 2017-04-12 | A kind of sweeping robot system and sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108685532A true CN108685532A (en) | 2018-10-23 |
Family
ID=63843817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710236045.2A Pending CN108685532A (en) | 2017-04-12 | 2017-04-12 | A kind of sweeping robot system and sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108685532A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109362582A (en) * | 2018-11-22 | 2019-02-22 | 哈尔滨天河自动化设备有限公司 | One kind being suitable for more scene piggery cleaner device people and method for cleaning |
| CN109864670A (en) * | 2019-04-04 | 2019-06-11 | 佛山市顺德区盛熙电器制造有限公司 | The automatic ground steam cleaning appliance of heat storage type and its working method |
| CN111434301A (en) * | 2019-01-11 | 2020-07-21 | 添可智能科技有限公司 | Cleaning appliance and control method thereof |
| CN113208516A (en) * | 2021-04-15 | 2021-08-06 | 上海电机学院 | Ground cleaning device |
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| CN113208516A (en) * | 2021-04-15 | 2021-08-06 | 上海电机学院 | Ground cleaning device |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181023 |